Gmapping Example 01

sample_gmapping.launch.xml

<launch>
  <arg name="model" default="$(find urdf_tutorial)/urdf/05-visual.urdf"/>
  <arg name="gui" default="true" />
  <arg name="rvizconfig" default="$(find urdf_tutorial)/rviz/urdf.rviz" />
  <param name="robot_description" command="$(find xacro)/xacro --inorder $(arg model)" />

  <!-- State Publisher -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
  <!-- Rviz -->
  <node name="rviz" pkg="rviz" type="rviz" args="-d $(arg rvizconfig)" required="true" />
  
  <!-- Arguments for GMapping -->
  <arg name="scan_topic" default="scan"/>
  <arg name="base_frame" default="base_link"/>
  <arg name="map_frame" default="map"/>
  <arg name="odom_frame" default="odom"/>
  
  <node pkg="gmapping" type="slam_gmapping" name="gmapping_thing" output="screen" >
    <remap from="scan" to="$(arg scan_topic)" />
    <param name="odom_frame" value="$(arg odom_frame)" />
    <param name="base_frame" value="$(arg base_frame)" />
    <param name="map_frame" value="$(arg map_frame)"/>
  </node>
</launch>